CN116142189A

CN116142189A - Vehicle, control method thereof, and computer-readable storage medium

Info

Publication number: CN116142189A
Application number: CN202310453399.8A
Authority: CN
Inventors: 徐磊; 陈奇; 陈保成; 冯源; 邓永强
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2023-04-25
Filing date: 2023-04-25
Publication date: 2023-05-23

Abstract

The invention discloses a vehicle, a control method thereof and a computer readable storage medium, and relates to the technical field of vehicles. The vehicle may receive an acceleration instruction during travel following the preceding vehicle. Thereafter, if the vehicle determines that its distance from the preceding vehicle is less than the safe distance threshold, the response to the accelerator pedal acceleration command may be disabled. In the process of following the front vehicle, whether the vehicle responds to the acceleration instruction or not can be judged through the safety distance threshold value. Therefore, the rear-end collision of the vehicle caused by the acceleration of the vehicle can be avoided, and the safe running of the vehicle is ensured.

Description

Vehicle, control method thereof, and computer-readable storage medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a vehicle, a control method thereof, and a computer readable storage medium.

Background

During the running of a vehicle on a congested road, a driver of the vehicle typically steps on a throttle (also referred to as an accelerator pedal) of the vehicle to immediately follow the preceding vehicle, so as to avoid the vehicle on other lanes from being jammed and affecting the running speed of the vehicle.

However, in the process of controlling the vehicle immediately in front of the vehicle by the driver, a phenomenon in which the vehicle is involved in a rear-end collision due to acceleration of the vehicle may occur.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the present invention proposes a vehicle, a control method thereof, and a computer-readable storage medium, in which the vehicle can receive an acceleration instruction during traveling following a preceding vehicle, and can prohibit response to the acceleration instruction of an accelerator pedal in the case where it is determined that the distance between the vehicle and the preceding vehicle is smaller than a safe distance threshold. Thus, the rear-end collision of the vehicle with the front vehicle due to the acceleration of the vehicle can be avoided, and the safe running of the vehicle can be ensured.

In one aspect, there is provided a control method of a vehicle, the method including:

controlling the vehicle to travel along with a front vehicle;

receiving an acceleration instruction;

and if the distance between the vehicle and the front vehicle is smaller than a safe distance threshold value, prohibiting to respond to the acceleration command.

In a possible implementation manner, the method further includes:

and if the acceleration indicated by the acceleration instruction is smaller than an acceleration threshold value and the distance between the vehicle and the front vehicle is larger than or equal to the safety distance threshold value, controlling the vehicle to accelerate according to the acceleration.

In a possible implementation manner, the method further includes:

and stopping following the front vehicle to run if the acceleration indicated by the acceleration instruction is greater than or equal to an acceleration threshold value.

In a possible implementation manner, if the distance between the vehicle and the front vehicle is smaller than a safe distance threshold, prohibiting the response to the acceleration command includes:

and if the speed of the vehicle is smaller than a speed threshold value and the distance between the vehicle and the front vehicle is smaller than a safety distance threshold value, prohibiting to respond to the acceleration command.

In a possible implementation manner, the method further includes:

and if the distance between the vehicle and the front vehicle is smaller than the safety distance threshold, controlling the vehicle to run in a decelerating mode until the distance between the vehicle and the front vehicle is larger than or equal to the safety distance threshold.

In a possible implementation manner, the controlling the vehicle to run at a reduced speed includes:

and controlling the vehicle to run at a deceleration according to a target deceleration, wherein the target deceleration is smaller than a deceleration threshold value.

In another aspect, a vehicle is provided, the vehicle comprising: a controller; the controller is used for:

controlling the vehicle to travel along with a front vehicle;

receiving an acceleration instruction;

In a possible implementation manner, the controller is further configured to:

In yet another aspect, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements a method of controlling a vehicle as described in the above aspect.

In a further aspect, there is provided a computer program product containing instructions which, when run on the computer, cause the computer to perform the method of controlling a vehicle as described in the preceding aspect.

The technical scheme provided by the invention has the beneficial effects that at least:

the invention provides a vehicle, a control method thereof and a computer readable storage medium, wherein the vehicle can receive an acceleration instruction in the process of following a preceding vehicle to run. Thereafter, if the vehicle determines that its distance from the preceding vehicle is less than the safe distance threshold, the response to the accelerator pedal acceleration command may be disabled. In the process of following the front vehicle, whether the vehicle responds to the acceleration instruction or not can be judged through the safety distance threshold value. Therefore, the rear-end collision of the vehicle caused by the acceleration of the vehicle can be avoided, and the safe running of the vehicle is ensured.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a vehicle according to an embodiment of the present invention;

FIG. 3 is a flowchart of another vehicle control method according to an embodiment of the present invention;

FIG. 4 is a schematic view of another vehicle according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The vehicle provided by the embodiment of the invention is provided with an auxiliary driving system (also called as an intelligent driving system), and correspondingly, the vehicle has an auxiliary driving function. Wherein the driving assistance system may include at least one of the following systems: adaptive cruise (adaptive cruise control, ACC), adaptive pilot system, and auto pilot (auto pilot) system. Accordingly, the driving assistance function may include one of the following functions: ACC function, adaptive pilot function, and automatic pilot function.

Alternatively, the vehicle may be a fuel vehicle, a new energy vehicle, or a hybrid vehicle.

It is understood that ACC functionality refers to: the vehicle can control its longitudinal speed and following distance. For example, after the ACC function is activated, the vehicle will travel at a set cruising speed, and when a vehicle traveling at a speed lower than the cruising speed appears in front, the vehicle will automatically maintain a distance from the preceding vehicle and will stop and start following the preceding vehicle.

The adaptive pilot function and the automatic pilot function are both more advanced functions than the ACC function. The adaptive pilot function can automatically judge whether overtaking can be performed based on the vehicle environment of the adjacent lane when the vehicle is determined to be in front of the vehicle running at the speed lower than the set cruising speed on the basis of the ACC function, and execute overtaking operation under the condition that overtaking can be determined. In addition, the adaptive pilot function also enables the vehicle to automatically change lanes based on navigation information and real-time environmental information.

The automatic pilot function can enable the vehicle to operate the self-vehicle to drive in the middle lane according to the lane line of the lane on which the vehicle runs on the basis of the ACC function.

The embodiment of the invention takes a vehicle with an ACC function as an example, and an exemplary description is given of a control method of the vehicle provided by the embodiment of the invention. The method is equally applicable to vehicles having other functions including ACC functions. For example, a vehicle with an adaptive pilot function, or a vehicle with an automatic pilot function, to which embodiments of the present invention are not limited.

It will be appreciated that after the vehicle has activated the ACC function, if the vehicle determines that the vehicle in front is traveling at a vehicle speed below the set cruise vehicle speed, the vehicle will automatically maintain the desired distance from the vehicle in front. However, in case the vehicle keeps a desired distance from the preceding vehicle, other vehicles of adjacent lanes may suddenly change lane before the own vehicle, which on the one hand increases the risk of a rear-end collision of the own vehicle and on the other hand leads to a decrease of the speed of the own vehicle. Especially in the case of traffic jams, this phenomenon of plugging occurs at a high frequency.

At this time, the driver typically controls the acceleration of the vehicle to reduce the distance between the host vehicle and the preceding vehicle, for example, by controlling the acceleration of the vehicle via an accelerator pedal, thereby avoiding the other vehicles from being jammed between the host vehicle and the preceding vehicle. However, when the distance between the own vehicle and the preceding vehicle is short, if the driver controls the acceleration of the vehicle, a phenomenon in which the vehicle collides with the preceding vehicle and a phenomenon in which the ACC function automatically exits, which reduces the intelligence of the vehicle, tend to occur. Based on the above, the embodiment of the invention provides a vehicle control method, which can solve the problem of vehicle rear-end collision caused by vehicle acceleration. Referring to fig. 1, the method includes:

step 101, controlling the vehicle to run along with the front vehicle.

In the embodiment of the invention, after the ACC function of the vehicle is started, the vehicle can enter the self-adaptive cruising state, and at the moment, the controller of the vehicle can control the vehicle to drive along with a front vehicle (hereinafter, simply referred to as a front vehicle).

Step 102, receiving an acceleration instruction.

In the process of the vehicle following the front vehicle, if the driver needs to accelerate the vehicle, an acceleration instruction can be sent out. Accordingly, the vehicle may receive the acceleration instruction.

In an alternative implementation, referring to FIG. 2, the vehicle may include an accelerator pedal 01. If the driver needs to accelerate the vehicle, an acceleration instruction can be issued by the accelerator pedal 01. For example, the driver may depress an accelerator pedal, and accordingly, the accelerator pedal may issue an acceleration instruction to a controller of the vehicle in response to the depressing operation.

In another alternative implementation, the vehicle may include a microphone. If the driver needs the vehicle to accelerate, a voice including an acceleration instruction may be issued. The microphone may collect the voice and may transmit the voice to a controller of the vehicle. Correspondingly, the controller can receive the acceleration instruction.

Step 103, if the distance between the vehicle and the front vehicle is smaller than the safety distance threshold, the response of the acceleration instruction is forbidden.

In the embodiment of the invention, after the vehicle receives the acceleration instruction, whether the distance between the vehicle and the front vehicle is smaller than the safety distance threshold value can be detected. If the vehicle determines that the distance between the vehicle and the front vehicle is smaller than the safety distance threshold value, the vehicle can determine that the distance between the vehicle and the front vehicle is smaller, and then the response to the acceleration instruction can be forbidden so as to avoid the rear-end collision of the vehicle with the front vehicle.

The safe distance threshold may be pre-stored by the vehicle, and the safe distance threshold is less than a following distance of the vehicle. The following distance is: the distance between the vehicle and the front vehicle is required in the process of following the front vehicle to run. The following distance may be a distance that the vehicle acquires in advance in response to a setting operation by the driver, or may be a distance corresponding to a following distance, that is, the following distance may be determined according to the following distance. The following time interval may be acquired in advance by the vehicle in response to a setting operation by the driver.

In summary, the embodiment of the invention provides a control method for a vehicle, which can receive an acceleration instruction in the process of following a preceding vehicle to run. Thereafter, if the vehicle determines that its distance from the preceding vehicle is less than the safe distance threshold, the response to the accelerator pedal acceleration command may be disabled. In other words, in the process of following the preceding vehicle, the vehicle provided by the embodiment of the invention can judge whether to respond to the acceleration instruction or not through the safety distance threshold value. Therefore, the rear-end collision of the vehicle caused by the acceleration of the vehicle can be avoided, and the safe running of the vehicle is ensured.

Taking the driving support function of the vehicle as an ACC function as an example, a control method of the vehicle according to the embodiment of the present invention is further described as an example. Referring to fig. 3, the method includes:

step 201, controlling the vehicle to run along with the front vehicle.

In the embodiment of the invention, after the ACC function of the vehicle is started, the vehicle can enter the self-adaptive cruising state, and at the moment, the controller of the vehicle can control the vehicle to run along with the front vehicle. The controller may be a controller of an ACC system or may be a cabin controller of a vehicle.

It will be appreciated that the vehicle can be maintained at least a predetermined distance from the lead vehicle (i.e., the following distance described above) during travel of the vehicle following the lead vehicle. The predetermined distance is typically greater than the safe distance threshold. And the preset distance may be determined based on a following time distance and a vehicle speed of the vehicle, e.g., the preset distance may be equal to a product of the following time distance and the vehicle speed. Alternatively, the preset distance may be acquired in advance by the vehicle in response to a setting operation by the driver. The following time interval may be stored in advance of the vehicle, or may be acquired in advance of the vehicle in response to a setting operation by the driver.

In the embodiment of the invention, after the ACC function of the vehicle is started, the vehicle can identify and determine the front vehicle. The vehicle may then acquire the distance between the host vehicle and the lead vehicle, and the relative speed of the lead vehicle with respect to the host vehicle, in real time via at least one sensor located in front of the host vehicle. Thereafter, the vehicle can control the own vehicle to accelerate or decelerate in accordance with the distance and the relative vehicle speed so that the own vehicle follows the preceding vehicle while maintaining a predetermined distance from the preceding vehicle.

For example, if the controller of the vehicle determines that the preceding vehicle is decelerating relative to the own vehicle based on the relative vehicle speed, the own vehicle may be controlled to decelerate (i.e., to decelerate and follow) so as to ensure that the distance between the own vehicle and the preceding vehicle is the preset distance. If the controller determines that the preceding vehicle is accelerating relative to the own vehicle, the own vehicle can be controlled to accelerate (i.e. accelerate to follow). If the controller determines that the preceding vehicle stops running, the controller can control the own vehicle to gradually stop running (i.e. to stop following).

Optionally, the at least one sensor may include: at least one of an ultrasonic radar, a millimeter wave radar, a laser radar, and a camera.

Step 202, receiving an acceleration instruction.

In an alternative implementation, referring to FIG. 2, the vehicle may include an accelerator pedal 01. If the driver needs to accelerate the vehicle, an acceleration instruction can be issued by the accelerator pedal 01. For example, the driver may depress an accelerator pedal, which may issue an acceleration instruction to a controller of the vehicle in response to the depressing operation. That is, the acceleration instruction is triggered by the driver's depression operation of the accelerator pedal.

In another alternative implementation, the vehicle may include a microphone. If the driver needs the vehicle to accelerate, a voice including an acceleration instruction may be issued. The microphone may collect the voice and may transmit the voice to a controller of the vehicle. Correspondingly, the controller can receive the acceleration instruction. For example, the voice may be "acceleration running".

Step 203, detecting whether the speed of the vehicle is less than a speed threshold.

In the embodiment of the invention, the predetermined distance between the vehicle and the preceding vehicle is generally large during the high-speed running process. At this time, even if the vehicle accelerates slightly, the front vehicle is not generally knocked back. While the predetermined distance to the preceding vehicle is typically small during low speed travel of the congested road segment (i.e., in a traffic jam scenario). At this time, if the vehicle accelerates, there is a possibility that the vehicle may rear-end the front vehicle. And during the low-speed running of the congested road section, the driver usually controls the acceleration of the vehicle to control the vehicle to shorten the distance between the vehicle and the front vehicle so as to follow the front vehicle and avoid the vehicle in other lanes from being jammed between the vehicle and the front vehicle.

Based on this, the vehicle, after receiving the acceleration instruction, can detect whether its vehicle speed is less than a speed threshold. If the vehicle determines that its speed is greater than or equal to the speed threshold, the operation may be ended, i.e. steps 204 to 207 provided by the embodiments of the present invention need not be performed. If the vehicle determines that its speed is less than the speed threshold, i.e., in a scenario where the vehicle is traveling at a low speed following the front vehicle, or in a scenario where the vehicle is stopped following the front vehicle, step 204, step 205, or

steps

206 and 207 may be performed.

Wherein the speed threshold may be pre-stored in the controller. Alternatively, the speed threshold may be 8 kilometers per hour (km/h) or more and 25km/h or less. For example, the speed threshold may be 10km/h.

It will be appreciated that in a traffic jam scenario, the vehicle may be parked with the lead vehicle stopped, and the vehicle may also be parked with the lead vehicle. Alternatively, the vehicle may be tracked at a low speed to maintain at least a predetermined distance from the lead vehicle.

And 204, if the acceleration instructed by the acceleration instruction is smaller than the acceleration threshold value and the distance between the vehicle and the front vehicle is larger than or equal to the safety distance threshold value, controlling the vehicle to accelerate according to the acceleration.

Therefore, in the running process of the following front vehicle, namely after the following function is started, the vehicle provided by the embodiment of the invention can receive the intentional acceleration instruction from the driver, and can control the vehicle to run in an accelerating way based on the acceleration instruction so as to prevent the jam phenomenon, thereby effectively improving the driving experience of the driver.

In the embodiment of the present invention, for a scenario in which a driver controls acceleration of a vehicle through an accelerator pedal, that is, a scenario in which an acceleration instruction is triggered by a stepping operation of the accelerator pedal by the driver, as an optional implementation manner, the vehicle may determine an acceleration indicated by the acceleration instruction based on an opening degree of the accelerator pedal, and then determine whether the acceleration is less than an acceleration threshold. Wherein the acceleration is positively correlated with the opening degree.

As another alternative implementation, the acceleration indicated by the acceleration instruction may be represented by an opening degree of an accelerator pedal. Correspondingly, the vehicle can directly detect whether the opening of the accelerator pedal is smaller than the opening threshold corresponding to the acceleration threshold, and can determine that the acceleration is smaller than the acceleration threshold after determining that the opening is smaller than the opening threshold.

That is, in such an implementation, the vehicle may be controlled to accelerate the vehicle according to the acceleration based on a condition that the opening degree of the accelerator pedal is smaller than the opening degree threshold value and the distance between the vehicle and the preceding vehicle is equal to or greater than the safe distance threshold value.

For a scenario in which the driver controls the acceleration of the vehicle through voice, since the voice uttered by the driver may generally include acceleration, the vehicle may directly recognize the acceleration indicated by the acceleration instruction from the voice, and then determine whether the acceleration is less than the acceleration threshold. For example, if the speech is "in terms of 2 meters per square second (m/s) ² ) Acceleration running ", the vehicle can recognize that the acceleration indicated by the acceleration instruction is 2m/s ² 。

It is understood that the vehicle may determine the intention of the driver based on the acceleration indicated by the acceleration instruction. If the driver of the vehicle controls the acceleration of the vehicle in order to avoid the jam of other vehicles during the low-speed running of the vehicle on the congested road section, the acceleration indicated by the acceleration command is usually smaller than the acceleration threshold. If the driver does not control the acceleration of the vehicle to avoid the jam of other vehicles, for example, to avoid the danger of emergency, the acceleration is usually equal to or greater than the acceleration threshold.

In the case where the driver controls acceleration of the vehicle in order to avoid jamming of other vehicles, the vehicle needs to control acceleration of the vehicle based on the acceleration indicated by the acceleration instruction to shorten the distance of the vehicle from the preceding vehicle. Whereas for the case where the driver controls the acceleration of the vehicle for emergency avoidance, the vehicle needs to disable the adaptive cruise function in order for the driver to control the vehicle.

Based on this, after determining that the vehicle speed is less than the speed threshold, that is, the vehicle is currently in a low-speed creep state or is stopped (i.e., is stopped) following the preceding vehicle, it may be detected whether the distance between the vehicle and the preceding vehicle is less than the safe distance threshold, and it may be detected whether the acceleration indicated by the acceleration instruction is less than the acceleration threshold. If the vehicle determines that the acceleration is smaller than the acceleration threshold value and the distance between the vehicle and the front vehicle is larger than or equal to the safety distance threshold value, it can be determined that the driver needs to control the vehicle to follow the front vehicle to avoid the jam of other vehicles, the distance between the vehicle and the front vehicle is large enough to avoid the rear-end collision phenomenon caused by secondary acceleration, and then the vehicle can be controlled to accelerate to run according to the acceleration so as to shorten the distance between the vehicle and the front vehicle.

Wherein the safe distance threshold and the acceleration threshold may both be pre-stored by the vehicle. Alternatively, the safe distance threshold may be 0.6 meters (m) or more and 1m or less. For example, the safe distance threshold may be 0.8m. The acceleration threshold value may be equal to or greater than the acceleration corresponding to 15% of the accelerator pedal opening and equal to or less than the acceleration corresponding to 25% of the accelerator pedal opening. For example, the acceleration threshold value may be an acceleration corresponding to 25% of the opening degree.

In the embodiment of the invention, for a scene in which an acceleration instruction is triggered by a stepping operation of the accelerator pedal by a driver, the vehicle may include: an angle sensor that can detect an opening degree of an accelerator pedal and can send the detected opening degree to a controller of the vehicle.

It can be understood that, since the vehicle keeps a predetermined distance from the front vehicle when traveling along with the front vehicle, and the predetermined distance is generally greater than the safety distance threshold, after the vehicle receives the acceleration command for the first time in the process of traveling along with the front vehicle, it can be directly determined that the distance from the front vehicle is greater than the safety distance threshold, and then it is directly detected whether the opening of the pedal is smaller than the opening threshold.

And 205, stopping the following front vehicle to run if the acceleration indicated by the acceleration instruction is greater than or equal to the acceleration threshold value.

In the low-speed running process of the congested road section, if the acceleration indicated by the received acceleration instruction is greater than or equal to the acceleration threshold value, it can be determined that the driver needs to control the vehicle to avoid danger, and then the ACC function can be automatically exited to stop following the preceding vehicle to run, so that the driver can control the vehicle according to the self requirement.

Step 206, if the distance between the vehicle and the preceding vehicle is smaller than the safe distance threshold, prohibiting to respond to the acceleration instruction.

In the process of low-speed running of the vehicle, after receiving the acceleration instruction, if the distance between the vehicle and the front vehicle is smaller than the safety distance threshold value, the rear-end collision phenomenon possibly occurring in the acceleration at the moment can be determined, and then the response to the acceleration instruction can be forbidden. Thus, the vehicle does not run with acceleration, and the rear-end collision with the front vehicle can be avoided.

And 207, controlling the vehicle to run at a reduced speed until the distance between the vehicle and the front vehicle is greater than or equal to a safe distance threshold.

In the embodiment of the invention, after determining that the distance between the vehicle and the front vehicle is smaller than the safety distance threshold, the controller of the vehicle can also control the vehicle to run in a decelerating manner until the distance between the vehicle and the front vehicle is greater than or equal to the safety distance threshold. Thus, the rear-end collision of the vehicle with the front vehicle can be further avoided.

Alternatively, the controller of the vehicle may be run at a reduced speed in accordance with the target deceleration. The target deceleration is less than a deceleration threshold. Therefore, on the premise of avoiding rear-end collision of the vehicle, the vehicle can be ensured to be decelerated more gently, and driving experience of a driver is effectively improved.

Wherein the target deceleration may be stored in advance in the vehicle. For example, the target deceleration may be 2 meters m/s ² 。

It can be understood that the sequence of the steps of the vehicle control method provided by the embodiment of the invention can be properly adjusted, and the steps can be correspondingly increased or decreased according to the situation. For example, step 204 may be deleted as appropriate; alternatively, step 205 may be deleted as appropriate. Any method that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered in the protection scope of the present invention, and thus will not be repeated.

The embodiment of the invention provides a vehicle which has an auxiliary driving function and can be used for executing the control method of the vehicle. Referring to fig. 4, the vehicle 300 includes a controller 301, the controller 301 being configured to:

controlling the vehicle to run along with the front vehicle;

receiving an acceleration instruction;

if the distance between the vehicle and the front vehicle is smaller than the safe distance threshold value, the response of the acceleration command is forbidden.

Optionally, with continued reference to fig. 4, the vehicle 300 may further include: an accelerator pedal 01. The controller 301 is connected to the accelerator pedal 01, and is configured to receive an acceleration instruction sent from the accelerator pedal 01, the acceleration instruction being triggered by a stepping operation on the accelerator pedal 01.

Optionally, the controller 301 may further be configured to:

and if the acceleration indicated by the acceleration instruction is smaller than the acceleration threshold value and the distance between the vehicle and the vehicle in front is larger than or equal to the safety distance threshold value, controlling the vehicle to accelerate according to the acceleration.

Optionally, the controller 301 may further be configured to:

and stopping the following front vehicle to run if the acceleration indicated by the acceleration instruction is greater than or equal to the acceleration threshold value.

Alternatively, the controller 301 may be configured to:

and if the speed of the vehicle is less than the speed threshold and the distance between the vehicle and the front vehicle is less than the safety distance threshold, prohibiting responding to the acceleration command.

Optionally, the controller 301 may further be configured to:

Alternatively, the controller 301 may be configured to:

the vehicle is controlled to run at a deceleration according to a target deceleration, which is smaller than a deceleration threshold value.

In summary, the embodiment of the invention provides a vehicle, which can receive an acceleration instruction in the process of following a preceding vehicle to run. Thereafter, if the vehicle determines that its distance from the preceding vehicle is less than the safe distance threshold, the response to the accelerator pedal acceleration command may be disabled. In other words, in the process of following the preceding vehicle, the vehicle provided by the embodiment of the invention can judge whether to respond to the acceleration instruction or not through the safety distance threshold value. Therefore, the rear-end collision of the vehicle caused by the acceleration of the vehicle can be avoided, and the safe running of the vehicle is ensured.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the electronic device 400 includes: a processor 401 and a memory 402. Wherein the processor 401 is coupled to a memory 402, such as via a bus 403.

The processor 401 may be a central processing unit (central processing unit, CPU), general purpose processor, data signal processor (digital signal processor, DSP), application specific integrated circuit (application specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logical blocks, modules, and circuits described in connection with the present disclosure. Processor 401 may also be a combination that implements computing functionality, such as a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.

Bus 403 may include a path to transfer information between the components. Bus 403 may be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 403 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.

The memory 402 is used to store a computer program corresponding to the control method of the vehicle of the above-described embodiment of the present invention, which is controlled to be executed by the processor 401. The processor 401 is arranged to execute a computer program stored in the memory 402 for realizing what is shown in the foregoing method embodiments.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for controlling a vehicle provided by the above method embodiment, for example, the method shown in fig. 1 or fig. 3.

The present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the method for controlling a vehicle provided by the above method embodiment, for example, the method shown in fig. 1 or fig. 3.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A control method of a vehicle, characterized by comprising:

controlling the vehicle to travel along with a front vehicle;

receiving an acceleration instruction;

2. The method according to claim 1, wherein the method further comprises:

3. The method according to claim 1, wherein the method further comprises:

4. A method according to any one of claims 1 to 3, wherein disabling the response to the acceleration instruction if the distance of the vehicle from the vehicle in front is less than a safe distance threshold, comprises:

5. A method according to any one of claims 1 to 3, wherein the method further comprises:

6. The method of claim 5, wherein said controlling said vehicle to run at a reduced speed comprises:

7. A vehicle, characterized in that the vehicle comprises: a controller; the controller is used for:

controlling the vehicle to travel along with a front vehicle;

receiving an acceleration instruction;

8. The vehicle of claim 7, wherein the controller is further configured to:

9. The vehicle of claim 7, wherein the controller is further configured to:

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the control method of a vehicle according to any one of claims 1 to 6.